Sub-Pages

Microcontroller Programming

This page contains the program that was used on the microcontroller for the submersible robot. It should be noted that this program was meant to only serve as an example of what kind of programming can be done using the microcontroller. A copy of this program can be found here. The software package necessary to interface with the microcontroller is available at www.parallax.com.

' {$STAMP BS2}

' {$PBASIC 2.5}

' Senior Design Project

' Hardare Connection:

' P12--P15 control Value #1--Value #4

' P1 connects to a reed switch (get 0 when closed)

' P2 connects to a solar pannel (get 1 when lighted)

'-------------------------------------------------------------------------

' Initialization and Variable Declaration

i VAR Word 'Counter

j VAR Word 'Counter

k VAR Word 'Counter

i=0

j=0

LOW 12 'Turn off Value #1

LOW 13 'Turn off Value #2

LOW 14 'Turn off Value #3

LOW 15 'Turn off Value #4

'-------------------------------------------------------------------------

'Program starts

'8 hour delay

GOSUB Time15

IF (IN2=1) THEN 'Check the solar pannel, IN2=1 when receive light

GOSUB P1

END 'Put CPU into low power mode until reset

ELSE

GOSUB Time15

GOSUB Time15 'An hour delay

IF (i > 92318) THEN 'Adjust j according to value of i

j=33

ENDIF

IF (i <= 86879) THEN

j=34

ENDIF

IF (i <= 81455) THEN

j=35

ENDIF

IF (i <= 76020) THEN

j=36

ENDIF

IF (i <= 70619) THEN

j=37

ENDIF

IF (i <= 65186) THEN

j=38

ENDIF

IF (i <= 59727) THEN

j=39

ENDIF

IF (i <= 54328) THEN

j=40

ENDIF

IF (i <= 48876) THEN

j=41

ENDIF

IF (i <= 43459) THEN

j=42

ENDIF

IF (i <= 38042) THEN

j=43

ENDIF

IF (i <= 32587) THEN

j=44

ENDIF

IF (i <= 27188) THEN

j=45

ENDIF

IF (i <= 21761) THEN

j=46

ENDIF

IF (i <= 16310) THEN

j=47

ENDIF

IF (i <= 10887) THEN

j=48

ENDIF

IF (i <= 5449) THEN

j=49

ENDIF

IF (i <= 50) THEN

j=50

ENDIF

DO UNTIL (j=0)

i=i+1

j=j-1

HIGH 12 'Turn on Value #1

PAUSE 1000 '1 Second delay

LOW 12 'Turn off Value #1

PAUSE 2000 '2 Second delay

HIGH 13 'Turn on Value #2

PAUSE 1000 '1 Second delay

LOW 13 'Turn off Value #2

PAUSE 3000 '3 Second delay

LOOP

GOSUB Time15

GOSUB Time15 'An hour delay

IF (IN2=1) THEN 'Check the solar pannel

GOSUB P1

END 'Put CPU into low power mode until reset

ELSE

HIGH 14 'Turn on Value #3

PAUSE 5000 '5 Seconds delay

LOW 14 'Turn off Value #3

ENDIF

LOOP

'--------------------------------------------------------------------------

'Subroutine P1: turn on/off value #3 and #4

P1:

HIGH 14 'Turn on Value #3

PAUSE 5000 '5 Seconds delay

LOW 14 'Turn off Value #3

PAUSE 5000 '5 Seconds delay

HIGH 15 'Turn on Value #4

PAUSE 5000 '5 Seconds delay

LOW 15 'Turn off Value #4

RETURN

'--------------------------------------------------------------------------

'Subroutine Time15: 15 minutes delay

Time15:

k=0

PAUSE 500 'Use when debugging

DO UNTIL (k>=180) '5Sec*12*15=180

k=k+1

PAUSE 5000 '5 Seconds delay

LOOP

RETURN